<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: features/include/pcl/features/range_image_border_extractor.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('range__image__border__extractor_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">range_image_border_extractor.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RANGE_IMAGE_BORDER_EXTRACTOR_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RANGE_IMAGE_BORDER_EXTRACTOR_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// FORWARD DECLARATIONS:</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">class </span>RangeImage;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type&gt;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html">   59</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_range_image_border_extractor.html">RangeImageBorderExtractor</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointWithRange,BorderDescription&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;RangeImageBorderExtractor&gt; Ptr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const RangeImageBorderExtractor&gt; ConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="comment">// =====TYPEDEFS=====</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointWithRange,BorderDescription&gt;</a> <a class="code" href="classpcl_1_1_feature.html">BaseClass</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="comment">// =====PUBLIC STRUCTS=====</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">   69</a></span>&#160;<span class="comment"></span>      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> () : </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          normal (), neighborhood_mean (), eigen_values (), normal_no_jumps (), </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          neighborhood_mean_no_jumps (), eigen_values_no_jumps (), max_neighbor_distance_squared () {}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        Eigen::Vector3f normal;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        Eigen::Vector3f neighborhood_mean;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        Eigen::Vector3f eigen_values;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        Eigen::Vector3f normal_no_jumps;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        Eigen::Vector3f neighborhood_mean_no_jumps;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        Eigen::Vector3f eigen_values_no_jumps;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">float</span> max_neighbor_distance_squared;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html">   85</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html">ShadowBorderIndices</a> </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html">ShadowBorderIndices</a> () : left (-1), right (-1), top (-1), bottom (-1) {}</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordtype">int</span> left, right, top, bottom;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      };</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">   92</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">Parameters</a></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">Parameters</a> () : max_no_of_threads(1), pixel_radius_borders (3), pixel_radius_plane_extraction (2), pixel_radius_border_direction (2), </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                       minimum_border_probability (0.8f), pixel_radius_principal_curvature (2) {}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordtype">int</span> max_no_of_threads;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordtype">int</span> pixel_radius_borders;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keywordtype">int</span> pixel_radius_plane_extraction;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordtype">int</span> pixel_radius_border_direction;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordtype">float</span> minimum_border_probability;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordtype">int</span> pixel_radius_principal_curvature;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      };</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="comment">// =====STATIC METHODS=====</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="comment"></span>      <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      getObstacleBorderAngle (<span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a>&amp; border_traits);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a4d81b1e3a6d72598c59637ddd0e80db1">  113</a></span>&#160;<span class="comment"></span>      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a4d81b1e3a6d72598c59637ddd0e80db1">RangeImageBorderExtractor</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>* range_image=NULL);</div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a13e4103472141fed41407665ba3233bb">  115</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a13e4103472141fed41407665ba3233bb">~RangeImageBorderExtractor</a> ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="comment">// =====METHODS=====</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment"></span>      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a6f3e8ec8465ce0f81464534c94e0086b">  122</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a6f3e8ec8465ce0f81464534c94e0086b">setRangeImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>* range_image);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#aef819151935510c24dc001cd483f62b2">  126</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#aef819151935510c24dc001cd483f62b2">clearData</a> ();</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;       </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a51bd8d8d977e214ec3eefb065e6c1703">  132</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a51bd8d8d977e214ec3eefb065e6c1703">getAnglesImageForBorderDirections</a> ();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a341bac12800bc68624674167a2f83189">  138</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a341bac12800bc68624674167a2f83189">getAnglesImageForSurfaceChangeDirections</a> ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a696dbef5ec52bd3af1141fea543b06d8">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a696dbef5ec52bd3af1141fea543b06d8">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&amp; output);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="comment">// =====GETTER=====</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">Parameters</a>&amp;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      getParameters () { <span class="keywordflow">return</span> (parameters_); }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      hasRangeImage ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> range_image_ != NULL; }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">const</span> RangeImage&amp;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      getRangeImage ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> *range_image_; }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      getBorderScoresLeft ()   { extractBorderScoreImages (); <span class="keywordflow">return</span> border_scores_left_; }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      getBorderScoresRight ()  { extractBorderScoreImages (); <span class="keywordflow">return</span> border_scores_right_; }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      getBorderScoresTop ()    { extractBorderScoreImages (); <span class="keywordflow">return</span> border_scores_top_; }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      getBorderScoresBottom () { extractBorderScoreImages (); <span class="keywordflow">return</span> border_scores_bottom_; }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      LocalSurface**</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      getSurfaceStructure () { extractLocalSurfaceStructure (); <span class="keywordflow">return</span> surface_structure_; }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      PointCloudOut&amp;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      getBorderDescriptions () { classifyBorders (); <span class="keywordflow">return</span> *border_descriptions_; }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      ShadowBorderIndices**</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      getShadowBorderInformations () { findAndEvaluateShadowBorders (); <span class="keywordflow">return</span> shadow_border_informations_; }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      Eigen::Vector3f**</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      getBorderDirections () { calculateBorderDirections (); <span class="keywordflow">return</span> border_directions_; }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      getSurfaceChangeScores () { calculateSurfaceChanges (); <span class="keywordflow">return</span> surface_change_scores_; }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      Eigen::Vector3f*</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      getSurfaceChangeDirections () { calculateSurfaceChanges (); <span class="keywordflow">return</span> surface_change_directions_; }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="comment">// =====PROTECTED MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      Parameters parameters_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keyword">const</span> RangeImage* range_image_;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordtype">int</span> range_image_size_during_extraction_;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keywordtype">float</span>* border_scores_left_, * border_scores_right_, * border_scores_top_, * border_scores_bottom_;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      LocalSurface** surface_structure_;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      PointCloudOut* border_descriptions_;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      ShadowBorderIndices** shadow_border_informations_;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      Eigen::Vector3f** border_directions_;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keywordtype">float</span>* surface_change_scores_;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      Eigen::Vector3f* surface_change_directions_;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="comment">// =====PROTECTED METHODS=====</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      getNeighborDistanceChangeScore (<span class="keyword">const</span> LocalSurface&amp; local_surface, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                                      <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">int</span> pixel_radius=1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a1356c4bb64d6949598aea9202d348dc5">  223</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a1356c4bb64d6949598aea9202d348dc5">getNormalBasedBorderScore</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a>&amp; local_surface, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                                 <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      changeScoreAccordingToShadowBorderValue (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">float</span>* border_scores,</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                                               <span class="keywordtype">float</span>* border_scores_other_direction, <span class="keywordtype">int</span>&amp; shadow_border_idx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      updatedScoreAccordingToNeighborValues (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keyword">const</span> <span class="keywordtype">float</span>* border_scores) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a11c29249e6c9432bd28a269b0a6ea17d">  254</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a11c29249e6c9432bd28a269b0a6ea17d">updatedScoresAccordingToNeighborValues</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* border_scores) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a2fcb0ac97395893e2207255c5a6e06ac">  258</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a2fcb0ac97395893e2207255c5a6e06ac">updateScoresAccordingToNeighborValues</a> ();</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      checkPotentialBorder (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">float</span>* border_scores_left,</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                            <span class="keywordtype">float</span>* border_scores_right, <span class="keywordtype">int</span>&amp; shadow_border_idx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      checkIfMaximum (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">float</span>* border_scores, <span class="keywordtype">int</span> shadow_border_idx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#aeb307e4a35d0d1718f9fd9a48d591874">  288</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#aeb307e4a35d0d1718f9fd9a48d591874">findAndEvaluateShadowBorders</a> ();</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a8f8430d1bc1f64b7ae941b76f2474826">  292</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a8f8430d1bc1f64b7ae941b76f2474826">extractLocalSurfaceStructure</a> ();</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a29357abd8ebafbfb3d0807592c7c10ce">  298</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a29357abd8ebafbfb3d0807592c7c10ce">extractBorderScoreImages</a> ();</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ae8c60f2bb5f82e0f581396d5e687fa8a">  304</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ae8c60f2bb5f82e0f581396d5e687fa8a">classifyBorders</a> ();</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      calculateBorderDirection (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ae774a32d4e787c5f82a6ff257f4cc6d3">  318</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ae774a32d4e787c5f82a6ff257f4cc6d3">calculateBorderDirections</a> ();</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      get3dDirection (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_border_description.html">BorderDescription</a>&amp; border_description, Eigen::Vector3f&amp; direction,</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a>* local_surface=NULL);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      calculateMainPrincipalCurvature (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">float</span>&amp; magnitude,</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                                       Eigen::Vector3f&amp; main_direction) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ac62ce40c5cc1de13e4e0a9e7dd3a5470">  346</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ac62ce40c5cc1de13e4e0a9e7dd3a5470">calculateSurfaceChanges</a> ();</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ae1c6afa704fbbf6ab8fb152e92c976e2">  350</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ae1c6afa704fbbf6ab8fb152e92c976e2">blurSurfaceChanges</a> ();</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ad8e67854695ac836880d46283aa93d1e">  354</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ad8e67854695ac836880d46283aa93d1e">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  };</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;}  <span class="comment">// namespace end</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="preprocessor">#pragma GCC diagnostic warning &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/range_image_border_extractor.hpp&gt;</span>  <span class="comment">// Definitions of templated and inline functions</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_RANGE_IMAGE_BORDER_EXTRACTOR_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html">pcl::RangeImageBorderExtractor</a></div><div class="ttdoc">Extract obstacle borders from range images, meaning positions where there is a transition from foregr...</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a11c29249e6c9432bd28a269b0a6ea17d"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a11c29249e6c9432bd28a269b0a6ea17d">pcl::RangeImageBorderExtractor::updatedScoresAccordingToNeighborValues</a></div><div class="ttdeci">float * updatedScoresAccordingToNeighborValues(const float *border_scores) const</div><div class="ttdoc">For all pixels, returns a new score that is &gt;= the original value, based on the neighbors values</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a1356c4bb64d6949598aea9202d348dc5"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a1356c4bb64d6949598aea9202d348dc5">pcl::RangeImageBorderExtractor::getNormalBasedBorderScore</a></div><div class="ttdeci">float getNormalBasedBorderScore(const LocalSurface &amp;local_surface, int x, int y, int offset_x, int offset_y) const</div><div class="ttdoc">Calculate a border score based on how much the neighbor is away from the local surface plane</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a13e4103472141fed41407665ba3233bb"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a13e4103472141fed41407665ba3233bb">pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor</a></div><div class="ttdeci">virtual ~RangeImageBorderExtractor()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a29357abd8ebafbfb3d0807592c7c10ce"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a29357abd8ebafbfb3d0807592c7c10ce">pcl::RangeImageBorderExtractor::extractBorderScoreImages</a></div><div class="ttdeci">void extractBorderScoreImages()</div><div class="ttdoc">Get images representing the probability that the corresponding pixels are borders in that direction (...</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a2fcb0ac97395893e2207255c5a6e06ac"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a2fcb0ac97395893e2207255c5a6e06ac">pcl::RangeImageBorderExtractor::updateScoresAccordingToNeighborValues</a></div><div class="ttdeci">void updateScoresAccordingToNeighborValues()</div><div class="ttdoc">Replace all border score values with updates according to updatedScoreAccordingToNeighborValues</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a341bac12800bc68624674167a2f83189"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a341bac12800bc68624674167a2f83189">pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections</a></div><div class="ttdeci">float * getAnglesImageForSurfaceChangeDirections()</div><div class="ttdoc">Get the 2D directions in the range image from the surface change directions - probably mainly useful ...</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a4d81b1e3a6d72598c59637ddd0e80db1"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a4d81b1e3a6d72598c59637ddd0e80db1">pcl::RangeImageBorderExtractor::RangeImageBorderExtractor</a></div><div class="ttdeci">RangeImageBorderExtractor(const RangeImage *range_image=NULL)</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a51bd8d8d977e214ec3eefb065e6c1703"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a51bd8d8d977e214ec3eefb065e6c1703">pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections</a></div><div class="ttdeci">float * getAnglesImageForBorderDirections()</div><div class="ttdoc">Get the 2D directions in the range image from the border directions - probably mainly useful for visu...</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a696dbef5ec52bd3af1141fea543b06d8"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a696dbef5ec52bd3af1141fea543b06d8">pcl::RangeImageBorderExtractor::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a6f3e8ec8465ce0f81464534c94e0086b"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a6f3e8ec8465ce0f81464534c94e0086b">pcl::RangeImageBorderExtractor::setRangeImage</a></div><div class="ttdeci">void setRangeImage(const RangeImage *range_image)</div><div class="ttdoc">Provide a pointer to the range image</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a8f8430d1bc1f64b7ae941b76f2474826"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a8f8430d1bc1f64b7ae941b76f2474826">pcl::RangeImageBorderExtractor::extractLocalSurfaceStructure</a></div><div class="ttdeci">void extractLocalSurfaceStructure()</div><div class="ttdoc">Extract local plane information in every point (see getSurfaceStructure ())</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ac62ce40c5cc1de13e4e0a9e7dd3a5470"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ac62ce40c5cc1de13e4e0a9e7dd3a5470">pcl::RangeImageBorderExtractor::calculateSurfaceChanges</a></div><div class="ttdeci">void calculateSurfaceChanges()</div><div class="ttdoc">Uses either the border or principal curvature to define a score how much the surface changes in a poi...</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ad8e67854695ac836880d46283aa93d1e"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ad8e67854695ac836880d46283aa93d1e">pcl::RangeImageBorderExtractor::computeFeature</a></div><div class="ttdeci">virtual void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Implementation of abstract derived function</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ae1c6afa704fbbf6ab8fb152e92c976e2"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ae1c6afa704fbbf6ab8fb152e92c976e2">pcl::RangeImageBorderExtractor::blurSurfaceChanges</a></div><div class="ttdeci">void blurSurfaceChanges()</div><div class="ttdoc">Apply a blur to the surface change images</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ae774a32d4e787c5f82a6ff257f4cc6d3"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ae774a32d4e787c5f82a6ff257f4cc6d3">pcl::RangeImageBorderExtractor::calculateBorderDirections</a></div><div class="ttdeci">void calculateBorderDirections()</div><div class="ttdoc">Call calculateBorderDirection for every point and average the result over parameters_....</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ae8c60f2bb5f82e0f581396d5e687fa8a"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ae8c60f2bb5f82e0f581396d5e687fa8a">pcl::RangeImageBorderExtractor::classifyBorders</a></div><div class="ttdeci">void classifyBorders()</div><div class="ttdoc">Classify the pixels in the range image according to the different classes defined below in enum Borde...</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_aeb307e4a35d0d1718f9fd9a48d591874"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#aeb307e4a35d0d1718f9fd9a48d591874">pcl::RangeImageBorderExtractor::findAndEvaluateShadowBorders</a></div><div class="ttdeci">void findAndEvaluateShadowBorders()</div><div class="ttdoc">Find the best corresponding shadow border and lower score according to the shadow borders value</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_aef819151935510c24dc001cd483f62b2"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#aef819151935510c24dc001cd483f62b2">pcl::RangeImageBorderExtractor::clearData</a></div><div class="ttdeci">void clearData()</div><div class="ttdoc">Erase all data calculated for the current range image</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html"><div class="ttname"><a href="classpcl_1_1_range_image.html">pcl::RangeImage</a></div><div class="ttdoc">RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...</div><div class="ttdef"><b>Definition:</b> range_image.h:56</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga010a963efcb59df316596af2902fcb58"><div class="ttname"><a href="group__common.html#ga010a963efcb59df316596af2902fcb58">pcl::BorderTraits</a></div><div class="ttdeci">std::bitset&lt; 32 &gt; BorderTraits</div><div class="ttdoc">Data type to store extended information about a transition from foreground to backgroundSpecification...</div><div class="ttdef"><b>Definition:</b> point_types.h:291</div></div>
<div class="ttc" id="astructpcl_1_1_border_description_html"><div class="ttname"><a href="structpcl_1_1_border_description.html">pcl::BorderDescription</a></div><div class="ttdoc">A structure to store if a point in a range image lies on a border between an obstacle and the backgro...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1441</div></div>
<div class="ttc" id="astructpcl_1_1_range_image_border_extractor_1_1_local_surface_html"><div class="ttname"><a href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">pcl::RangeImageBorderExtractor::LocalSurface</a></div><div class="ttdoc">Stores some information extracted from the neighborhood of a point</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.h:70</div></div>
<div class="ttc" id="astructpcl_1_1_range_image_border_extractor_1_1_parameters_html"><div class="ttname"><a href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">pcl::RangeImageBorderExtractor::Parameters</a></div><div class="ttdoc">Parameters used in this class</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.h:93</div></div>
<div class="ttc" id="astructpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices_html"><div class="ttname"><a href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html">pcl::RangeImageBorderExtractor::ShadowBorderIndices</a></div><div class="ttdoc">Stores the indices of the shadow border corresponding to obstacle borders</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.h:86</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_9a1a4359f87a67855aa82c0560dc9571.html">features</a></li><li class="navelem"><a class="el" href="dir_41d7953d0f26ce0cd6d0f8fad63e33a4.html">include</a></li><li class="navelem"><a class="el" href="dir_c94e79c2c5a14cf51fca344e688faa8f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_1fa9e61e4e86bede49a260cd2971bd05.html">features</a></li><li class="navelem"><b>range_image_border_extractor.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
